Typedefs | Functions | Variables
testSphericalCamera.cpp File Reference
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/SphericalCamera.h>
#include <cmath>
#include <iostream>
Include dependency graph for testSphericalCamera.cpp:

Go to the source code of this file.

Typedefs

typedef SphericalCamera Camera
 

Functions

int main ()
 
static const Point3 point1 (-0.08, -0.08, 0.0)
 
static const Point3 point2 (-0.08, 0.08, 0.0)
 
static const Point3 point3 (0.08, 0.08, 0.0)
 
static const Point3 point4 (0.08, -0.08, 0.0)
 
static Unit3 project3 (const Pose3 &pose, const Point3 &point)
 
static Vector2 reprojectionError2 (const Pose3 &pose, const Point3 &point, const Unit3 &measured)
 
 TEST (SphericalCamera, backproject)
 
 TEST (SphericalCamera, backproject2)
 
 TEST (SphericalCamera, constructor)
 
 TEST (SphericalCamera, Dproject)
 
 TEST (SphericalCamera, Dproject2)
 
 TEST (SphericalCamera, project)
 
 TEST (SphericalCamera, reprojectionError)
 
 TEST (SphericalCamera, reprojectionError_noisy)
 

Variables

static const Unit3 bearing1 (-0.156054862928174, 0.156054862928174, 0.975342893301088)
 
static const Unit3 bearing2 (-0.156054862928174, -0.156054862928174, 0.975342893301088)
 
static const Unit3 bearing3 (0.156054862928174, -0.156054862928174, 0.975342893301088)
 
static const Unit3 bearing4 (0.156054862928174, 0.156054862928174, 0.975342893301088)
 
static const Camera camera (pose)
 
static const Camera camera1 (pose1)
 
static double depth = 0.512640224719052
 
static const Pose3 pose (Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
 
static const Pose3 pose1 (Rot3(), Point3(0, 1, 0.5))
 
constexpr double TEST_THRESHOLD = 1e-7
 

Typedef Documentation

◆ Camera

Definition at line 38 of file testSphericalCamera.cpp.

Function Documentation

◆ main()

int main ( )

Definition at line 166 of file testSphericalCamera.cpp.

◆ point1()

static const Point3 point1 ( -0.  08,
-0.  08,
0.  0 
)
static

◆ point2()

static const Point3 point2 ( -0.  08,
0.  08,
0.  0 
)
static

◆ point3()

static const Point3 point3 ( 0.  08,
0.  08,
0.  0 
)
static

◆ point4()

static const Point3 point4 ( 0.  08,
-0.  08,
0.  0 
)
static

◆ project3()

static Unit3 project3 ( const Pose3 pose,
const Point3 point 
)
static

Definition at line 103 of file testSphericalCamera.cpp.

◆ reprojectionError2()

static Vector2 reprojectionError2 ( const Pose3 pose,
const Point3 point,
const Unit3 measured 
)
static

Definition at line 119 of file testSphericalCamera.cpp.

◆ TEST() [1/8]

TEST ( SphericalCamera  ,
backproject   
)

Definition at line 80 of file testSphericalCamera.cpp.

◆ TEST() [2/8]

TEST ( SphericalCamera  ,
backproject2   
)

Definition at line 88 of file testSphericalCamera.cpp.

◆ TEST() [3/8]

TEST ( SphericalCamera  ,
constructor   
)

Definition at line 66 of file testSphericalCamera.cpp.

◆ TEST() [4/8]

TEST ( SphericalCamera  ,
Dproject   
)

Definition at line 108 of file testSphericalCamera.cpp.

◆ TEST() [5/8]

TEST ( SphericalCamera  ,
Dproject2   
)

Definition at line 154 of file testSphericalCamera.cpp.

◆ TEST() [6/8]

TEST ( SphericalCamera  ,
project   
)

Definition at line 71 of file testSphericalCamera.cpp.

◆ TEST() [7/8]

TEST ( SphericalCamera  ,
reprojectionError   
)

Definition at line 125 of file testSphericalCamera.cpp.

◆ TEST() [8/8]

TEST ( SphericalCamera  ,
reprojectionError_noisy   
)

Definition at line 138 of file testSphericalCamera.cpp.

Variable Documentation

◆ bearing1

const Unit3 bearing1(-0.156054862928174, 0.156054862928174, 0.975342893301088)
static

◆ bearing2

const Unit3 bearing2(-0.156054862928174, -0.156054862928174, 0.975342893301088)
static

◆ bearing3

const Unit3 bearing3(0.156054862928174, -0.156054862928174, 0.975342893301088)
static

◆ bearing4

const Unit3 bearing4(0.156054862928174, 0.156054862928174, 0.975342893301088)
static

◆ camera

const Camera camera(pose)
static

◆ camera1

const Camera camera1(pose1)
static

◆ depth

double depth = 0.512640224719052
static

Definition at line 64 of file testSphericalCamera.cpp.

◆ pose

const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
static

◆ pose1

const Pose3 pose1(Rot3(), Point3(0, 1, 0.5))
static

◆ TEST_THRESHOLD

constexpr double TEST_THRESHOLD = 1e-7
constexpr

Definition at line 31 of file testSphericalCamera.cpp.



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autogenerated on Fri Nov 1 2024 03:43:26